A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments
文献类型：期刊论文
| 作者 | Gong, Zheyuan3; Cheng, Jiahui3; Chen, Xingyu2 ; Sun, Wenguang3; Fang, Xi3; Hu, Kainan3; Xie, Zhexin3; Wang, Tianmiao3; Wen, Li1,3
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| 刊名 | JOURNAL OF BIONIC ENGINEERING
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| 出版日期 | 2018-03-01 |
| 卷号 | 15期号:2页码:204-219 |
| 关键词 | bio-inspired soft robotic arm aquatic environment kinematics digital particle image velocimetry |
| ISSN号 | 1672-6529 |
| DOI | 10.1007/s42235-018-0016-x |
| 通讯作者 | Wen, Li(liwen@buaa.edu.cn) |
| 英文摘要 | Soft robotics has several promising properties for aquatic applications, such as safe interaction with environments, lightweight, low cost, etc. In this paper, we proposed the kinematic modeling and hydrodynamics experiments of a soft robotic arm with 3D locomotion capacity. We developed a mathematical model that incorporates the angle correction, as well as the open-loop model-based motion control. The model could precisely predict the three-dimensional (3D) movement, and the location error is less than 5.7 mm in different attitudes. Furthermore, we performed the hydrodynamic investigations and simultaneously measured the hydrodynamic forces and the wake flows at different amplitudes (50 mm, 100 mm, 150 mm, 200 mm) and frequencies (0.3 Hz, 0.4 Hz, 0.5 Hz) of the soft arm. Surprisingly, we found that the magnitudes of the hydrodynamic force (<1 N) and the torques (<0.08 N.m) of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we demonstrated underwater picking and placing tasks of the soft manipulator by using a computer program that controls the tip attitude and velocity. This study may inspire future underwater manipulators that have properties of low-inertial, low power cost and can safely interact with the aquatic environments. |
| WOS关键词 | ACTUATORS ; FABRICATION ; MANIPULATOR ; DESIGN ; WATER |
| 资助项目 | National Science Foundation support key projects, China[61633004] ; National Science Foundation support key projects, China[61333016] |
| WOS研究方向 | Engineering ; Materials Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000428289600002 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Science Foundation support key projects, China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28246]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Wen, Li |
| 作者单位 | 1.Beihang Univ, Beijing Adv Innovat Ctr Biomed Engn, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China |
| 推荐引用方式 GB/T 7714 | Gong, Zheyuan,Cheng, Jiahui,Chen, Xingyu,et al. A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(2):204-219. |
| APA | Gong, Zheyuan.,Cheng, Jiahui.,Chen, Xingyu.,Sun, Wenguang.,Fang, Xi.,...&Wen, Li.(2018).A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments.JOURNAL OF BIONIC ENGINEERING,15(2),204-219. |
| MLA | Gong, Zheyuan,et al."A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments".JOURNAL OF BIONIC ENGINEERING 15.2(2018):204-219. |
入库方式： OAI收割
来源：自动化研究所
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